Auxiliary motion device, drive system and control method

Abstract

The present invention relates to an auxiliary motion device, a driving system and a control method, and belongs to the technical field of ablation surgical devices. An auxiliary motion device comprises a frame, a motion component and a driving component; the motion component is arranged on the frame, and the motion component realizes linear and / or rotational motion under the drive of the driving component; the driving component comprises a manual driving part and a fully automatic driving part; wherein the manual driving part is used to realize manual control of the motion component; the fully automatic driving part is used to realize fully automatic control of the motion component. The present invention realizes the synchronous linear motion and rotational motion of the optical fiber catheter, and improves the control accuracy of the linear displacement and the rotation angle by means of screw rod and gear meshing; the driving component has a dual driving source, which can realize both manual adjustment of the optical fiber catheter and fully automatic adjustment of the optical fiber catheter.

Description

[0001] The present invention relates to the technical field of medical equipment, and in particular to an auxiliary motion device, a drive system and a control method. Background Art

[0002] Medical robots are a new cross-disciplinary research field that integrates medicine, biomechanics, mechanics, mechanical mechanics, materials science, computer graphics, computer vision, mathematical analysis, robotics and many other disciplines. It is a research hotspot in the field of robotics at home and abroad. The most commonly used medical robot in the field of neurosurgery is also called a surgical robot. In the surgical robot system, auxiliary robots account for nearly 17% of surgical operations and have become one of the commonly used auxiliary equipment in daily surgical operations. With the continuous development of technology, surgical robots will develop towards miniaturization, specialization, low cost, intelligence and automation, and will lead minimally invasive surgery into a new era.

[0003] Take MRgLITT as an example. MRgLITT is the abbreviation of magnetic resonance imaging-guided laser interstitial thermal therapy. This technology can achieve real-time thermal therapy for diseased tissues (brain tumors, epileptic lesions, radiation necrosis, etc.) with the help of intraoperative magnetic resonance. It can accurately eliminate diseased tissues through appropriate and safe temperature and thermal therapy range, while not damaging normal brain tissue and neurovascular structures around the lesions. It is a new minimally invasive brain tumor treatment technology. Generally speaking, before implementing thermal therapy, the insertion depth, light output direction or angle of the laser transmission device (such as a fiber optic catheter) are usually planned first. During the operation, the action position and light output direction or angle of the fiber optic catheter will also be adjusted in real time under the guidance of magnetic resonance, in order to achieve the purpose of conformal ablation. It can be seen that in laser ablation, the control of the movement orientation of the fiber optic catheter has higher precision requirements.

[0004] At present, MRgLITT technology is still in the stage of cultivation and development, and the existing surgical assistance robots in similar or other fields still have the following problems, so that they cannot be directly used in the laser ablation: ①, there is no mature auxiliary tool in China that is suitable for both the magnetic resonance environment and the precise control of the motion trajectory of the optical fiber catheter. ②, the driving source of the existing surgical assistance device is either manual operation or driven by a driving mechanism. Among them, the disadvantage of manual operation is that the maximum control accuracy of the optical fiber catheter can only reach 1mm, which is far from the control accuracy required for laser ablation surgery (usually less than 0.5mm); and the manual adjustment method will prolong the operation time and bring relatively large risks to the patient. The auxiliary robot with an automatic drive mechanism has more advantages in accuracy than manual control, but the existing drive mechanism is generally designed as an integrated part of the surgical assistance robot. The operation of the drive mechanism will affect the scanning accuracy of MRI, causing noise artifacts in the scanned image, etc., which will bring certain obstacles to the subsequent real-time analysis. ③. Considering that LITT technology is in the early stages of development and application, the position control of the fiber optic catheter still needs to "walk on two legs", which can achieve both manual control accuracy to meet surgical needs and fully automatic drive in a magnetic resonance environment. However, there is currently no surgical assistance robot that can achieve both manual control and fully automatic control and can achieve dual precision control to meet the needs of high-precision surgery. ④. The existing surgical assistance robots in similar fields have complex structures, large volumes and weights. If used in laser ablation surgery, they must be fixed with additional head frames and clamps. This may result in the addition of additional fixing devices to restrict the trajectory of the fiber optic catheter on the path to the target area. Once the positioning of the fixing device is deviated, it will affect the implementation of the clinical surgical path and bring inconvenience to the operator; and the use of clamps can easily damage surgical instruments. ⑤. The existing surgical assistance robots in similar fields have complex structures for achieving linear and / or rotational motion, which usually require multiple combination designs between several parts. The transmission of multiple parts can easily reduce the accuracy of force transmission, and the device is very likely to have problems during operation, which greatly reduces the operating stability and reliability of the surgical assistance robot.

[0005] Therefore, it is necessary to develop a dual-precision surgical assistance robot that is more intelligent, safer, has small errors, can assist medical staff, and can achieve high-precision control under the guidance of magnetic resonance imaging. Summary of the invention

[0006] In view of the above analysis, the present invention aims to provide an auxiliary motion device, a drive system and a control method to solve the problems in the prior art of complex motion device structure, low motion accuracy, inaccurate position control of surgical instruments and inability to be used in a nuclear magnetic resonance environment.

[0007] The purpose of the present invention is mainly achieved through the following technical solutions:

[0008] The present invention proposes an auxiliary motion device, which includes a frame, a motion component and a drive component; the motion component is arranged on the frame, and the motion component realizes linear and / or rotational motion under the drive of the drive component; the drive component includes a manual drive part and a fully automatic drive part; wherein the manual drive part is used to realize manual control of the motion component; the fully automatic drive part is used to realize fully automatic control of the motion component.

[0009] Preferably, the motion assembly includes a linear motion assembly and a rotational motion assembly, and the rotational motion assembly is arranged on the linear motion assembly; the manual drive unit is detachably connected to the fully automatic drive unit; and the frame and the motion assembly are both made of nuclear magnetic compatible materials.

[0010] Preferably, the fully automatic driving unit includes a first driving device and a second driving device; the first driving device is used to fully automatically drive the linear motion component to perform linear motion; the linear motion component can drive the rotary motion component to perform linear motion; the second driving device is used to fully automatically drive the rotary motion component to perform rotational motion, and the rotary motion component can drive the optical fiber conduit to perform rotational motion.

[0011] Preferably, the manual drive part includes a first manual adjustment part and a second manual adjustment part; the first manual adjustment part is used to manually drive the linear motion component to perform linear motion; the linear motion component can drive the rotary motion component to perform linear motion; the second manual adjustment part is used to manually drive the rotary motion component to perform rotational motion, and the rotary motion component can drive the optical fiber conduit to perform rotational motion.

[0012] Preferably, the first manual adjustment part is detachably connected to the first driving device; and the second manual adjustment part is detachably connected to the second driving device.

[0013] Preferably, the linear motion assembly comprises a screw rod, a linear active motion part and a linear driven motion part, and the linear active motion part is connected to the screw rod;

[0014] The rotary motion assembly comprises a driving wheel and a driven wheel, and the driving wheel and the driven wheel are meshed with each other.

[0015] Preferably, a guide rail guide groove is provided at the connection between the linear active motion part and the linear driven motion part, and the linear active motion part, the linear driven motion part and the guide rail guide groove are integrally formed.

[0016] Preferably, the frame includes a fixing portion, a guiding portion, a bottom cover and a rear cover; the rear cover is arranged on the rear side of the frame; the fixing portion is fixedly arranged on the front side of the frame, and the fixing portion is provided with an axially penetrating through hole; the guiding portion includes two guide rails, and the guide rails are movably connected to the guide rail guide grooves.

[0017] Preferably, a ring neck is provided on the linear driven motion part; the driven wheel is movably arranged in the ring neck; the optical fiber conduit includes an optical fiber fixing part and an optical fiber, the optical fiber fixing part is detachably connected to the driven wheel, and the optical fiber passes through the circular groove of the driven wheel, the through hole of the linear driven motion part and the through hole in sequence.

[0018] Preferably, a position sensor is provided on the motion component or the frame.

[0019] The present invention also proposes a driving system for an auxiliary motion device, which includes a remote control system and a robot, wherein the robot includes a communication module, a processing module and the auxiliary motion device, and the remote control system and the robot are electrically connected to control the movement of the optical fiber catheter in the auxiliary motion device.

[0020] A control method for a driving system of an auxiliary motion device of the present invention includes directly manually or remotely and fully automatically controlling the operation of the driving component to drive the linear motion component and the rotary motion component to perform linear motion and / or rotary motion.

[0021] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0022] (1) In the present invention, when driven by the second driving device, the optical fiber conduit in the frame performs self-rotational motion through the rotary motion assembly, and when driven by the first driving device, the linear motion assembly drives the rotary motion assembly disposed on the linear motion assembly to perform synchronous linear motion, so that the optical fiber conduit, the rotary motion assembly and the linear motion assembly achieve synchronization of linear motion, thereby achieving the optical fiber conduit to perform linear motion and rotational motion simultaneously in the frame.

[0023] (2) The linear driven motion part of the present invention comprises a rotary motion component and a cover plate, wherein the rotary motion component is disposed in the linear driven motion part, thereby achieving synchronous linear motion output of the rotary motion component and the linear motion component.

[0024] (3) The linear driven motion part of the present invention is arranged in cooperation with the cover plate, and a cavity is arranged in the linear driven motion part. The cavity is arranged in cooperation with the rotary motion component, and is used to contain the rotary motion component and play a role of fixing and limiting, so that the optical fiber catheter in the rotary motion component can achieve linear motion output and self-rotation without causing deviation in other directions, thereby increasing the accuracy of the entire operation.

[0025] (4) The outer circumference of the end of the positioning rib of the present invention is provided with a solitary protrusion, the outer diameter of the positioning rib is equal to the diameter of the positioning rib matching groove, and the diameter of the solitary protrusion is larger than the diameter of the positioning rib matching groove, so that the solitary protrusion can be stuck on the outer wall of the positioning rib matching groove, thereby locking the optical fiber conduit and the rotational motion component together and fixing them together without slipping or shifting, thereby ensuring the concentric position of the optical fiber conduit.

[0026] (5) The present invention is also provided with a circular ruler tape and a rotation position sensor for feedback of the rotational motion of the rotational motion component, i.e., the rotational motion of the optical fiber catheter. A linear position sensor and a ruler tape are also provided, and the linear position sensor is used to feedback the linear output motion of the linear motion component, i.e., the linear motion of the optical fiber catheter, so that the operator can perform the next step of ablation operation according to the feedback of the linear / rotational motion.

[0027] (6) The fixing part of the present invention is provided with a through hole, one end of which is fixedly arranged on one side of the frame, and the through hole is arranged coaxially with the driven wheel; the other end is detachably connected with a skull nail, a head coil, etc., which are used to fix the device to the support component of the head, and ensure that the surgical channel established by the skull nail remains coaxial with the through hole, thereby ensuring the directional accuracy of the linear motion, so that the application range of the device is wider.

[0028] (7) The guide part of the present invention includes two guide rails, which are symmetrically arranged on both sides of the upper side of the frame and parallel to the screw rod. The guide rails are matched with the guide rail guide grooves on the linear motion component. The linear motion component moves parallel to the screw rod on the guide rails in the same direction through the first driving device, so that the linear component can move in a directional manner, that is, the guide rails play a role in positioning and orienting the movement of the optical fiber conduit.

[0029] (8) There are two types of driving sources used to control the optical fiber catheter to achieve linear and / or rotational motion in the present invention, which can be either fully automatic control or manual control. The appropriate driving source can be selected at any time according to demand and need to adaptively change the position of the optical fiber catheter. Whether it is fully automatic control or manual control, there will be position sensor signal output to ensure the accuracy of the optical fiber catheter movement, which has variable operability and a wider range of applications.

[0030] (9) The motion component of the present invention is preferably made of non-metallic material, which is light in weight and does not affect the quality of MR images. The overall weight can be less than 40g. The device is light and can be used together with the head coil. The drive unit is fixed away from the motion unit and fixed on a specific bed support platform, which is firm and easy to operate. At the same time, it is also ensured that it is not in the MR scanning area and will not affect the image quality.

[0031] (10) In the present invention, the drive assembly and the motion assembly are connected by a flexible shaft, and the flexible shaft can be bent to a certain extent according to the on-site conditions and can be used in conjunction with the head frame. The interior of the flexible shaft is woven with non-magnetic stainless steel wire, and the exterior is made of resin such as PTFE. The drive assembly can directly manually operate the flexible shaft to output the driving force, or the output force can be transmitted through a motor. When a motor is used, the motor drive can be completed through a remote control system, so that the operator can complete the movement adjustment of the optical fiber catheter during surgery without entering the MRI (magnetic resonance imaging) room.

[0032] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can be obvious from the description or understood by practicing the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like components throughout the drawings.

[0034] Figure 1 The system structure of the auxiliary exercise device of the present invention is shown in FIG. Figure 1 ;

[0035] Figure 2A A cross-sectional view of the motion assembly of the present invention Figure 1 ;

[0036] Figure 2B The explosion of the motion component of the present invention Figure 1 ;

[0037] Figure 2C The second exploded view of the motion assembly of the present invention;

[0038] Figure 3A A side view of the motion assembly of the present invention Figure 1 ;

[0039] Figure 3B It is the second side view of the motion assembly of the present invention;

[0040] Figure 4A The third side view of the motion assembly of the present invention;

[0041] Figure 4B The second cross-sectional view of the motion assembly of the present invention;

[0042] Figure 5A A schematic diagram of the connection relationship between the optical fiber conduit and the driven wheel of the present invention;

[0043] Figure 5B It is a three-dimensional schematic diagram of the unassembled fixing part of the optical fiber conduit of the present invention;

[0044] Figure 5C It is a schematic diagram of the combination of the optical fiber catheter fixing part of the present invention;

[0045] Fig. 6A The structure of the drive assembly of the present invention is schematically shown in FIG. Figure 1 ;

[0046] Figure 6B This is a second structural diagram of the drive assembly of the present invention;

[0047] Fig. 7A An exploded view of the drive assembly of the present invention;

[0048] Figure 7B is a three-dimensional diagram of the drive assembly of the present invention;

[0049] Fig. 8A Schematic diagram of the drive assembly with a support frame of the present invention Figure 1 ;

[0050] Figure 8B Schematic diagram 2 of the drive assembly with a support frame of the present invention;

[0051] Figure 8C Schematic diagram 3 of the drive assembly with a support frame of the present invention;

[0052] Fig. 9 Schematic diagram 2 of the system structure of the auxiliary exercise device of the present invention;

[0053] Fig. 10A Schematic diagram of the remote control system of the present invention Figure 1 ;

[0054] Fig. 10B This is a second schematic diagram of the remote control system of the present invention.

[0055] Reference numerals:

[0056] Frame 1, linear motion component 2, screw 21, screw nut 211, linear active motion part 22, linear driven motion part 23, perforation 230, ring neck 231, notch 2310, first ring neck 2311 and second ring neck 2312, first step surface 23A, second step surface 32A, guide rail guide groove 24, linear position sensor 25, ruler tape 26, cover plate 232, first hole 2320, second hole 2321, rotary motion component 3, active wheel 31 and driven wheel 32, drive rod 311, optical fiber conduit 4, optical fiber fixing part 41, optical fiber 42, positioning rib 410, arc convex part 4101, optical fiber conduit fixture 51, first concave cavity 511, second concave cavity 512, boss 513, positioning groove 514, circular groove 5141, positioning rib matching groove 5142, annular groove 5120, optical fiber conduit fixture 52, snap fit Inner block 521, forked end 5211, convex portion 5212, engaging outer block 522, circular hole 5221, positioning rib 5222, solitary convex portion 5223, circular ring scale tape 53, rotation position sensor 54, fixing portion 6, through hole 60, fixing hole 61, guide portion 7, guide rail 71, first driving device 8, second driving device 9, bottom cover 11, front cover 13, rear cover 12, first shell 100, first manual adjustment portion 100A, first rotating shaft 101, first rotating wheel 102, second manual adjustment portion 100B, second rotating shaft 103, second rotating wheel 104, sliding groove 10a, sliding portion 20a, fixing piece 20b, second shell 200, third shell 300, first opening 300A, second opening 300B, marking ruler 300C, support frame 301, baffle 302, bending edge 3021, remote control system 10. DETAILED DESCRIPTION

[0057] The following is a further detailed description of an auxiliary motion device, a driving system and a control method for an optical fiber catheter in conjunction with specific embodiments. These embodiments are only used for comparison and explanation purposes, and the present invention is not limited to these embodiments.

[0058] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the term "connected" should be understood in a broad sense, for example, it can be a fixed connection, or a detachable connection, or an integral connection, which can be a mechanical connection, or an electrical connection, which can be a direct connection, or can be indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] The terms "top", "bottom", "above", "lower", and "on" used throughout the description are relative to the relative positions of components of a device, such as the relative positions of the top and bottom substrates within a device. It is understood that devices are multifunctional regardless of their orientation in space.

[0060] The working surface of the present invention can be a plane or a curved surface, can be inclined, or can be a straight line. For the convenience of description, the embodiment of the present invention is placed on a straight line surface and used on the straight line surface, and "high and low" and "up and down" are defined in this way.

[0061] like Figure 1 As shown, the present invention provides an auxiliary motion device, which combines manual control and automatic control into one, is made of nuclear magnetic compatible materials, and its control device is preferably an ultrasonic motor. Therefore, the auxiliary motion device can be used in a magnetic resonance environment, and can achieve high-precision control of the movement of interventional surgical instruments under the guidance of magnetic resonance. The auxiliary motion device includes a frame 1 and a motion component arranged on the frame 1. The motion component is used to drive the interventional surgical instrument to complete linear motion and rotational motion under the drive of a driving force. Furthermore, the motion component includes a linear motion component 2 and a rotational motion component 3, and the linear motion component 2 and the rotational motion component 3 can be an integrated setting or a detachable split setting, which is not limited here.

[0062] Furthermore, the linear motion component 2 can drive the rotary motion component 3 to perform linear motion under the driving force; in addition, the rotary motion component 3 can perform rotational motion relative to the linear motion component 2 under the driving force, and the rotary motion component 3 can drive the interventional surgical instrument to perform rotational motion. The driving force comes from manual drive control or fully automatic drive control.

[0063] The structure, function and effect of the present invention will be described in detail below by taking the MRgLITT technology and the optical fiber catheter applied to the MRgLITT technology as an example.

[0064] Example 1

[0065] The present invention proposes an auxiliary motion device including a frame 1, a motion component and a drive component. The motion component and the drive component are separately arranged, and in actual use, there is a certain setting distance between the motion component and the drive component, that is, the drive component is arranged away from the nuclear magnetic body or away from the magnetic resonance room. First, the influence of the drive component on magnetic resonance imaging and temperature measurement technology is avoided, and second, the weight of the motion component is reduced, so that the volume and weight of the motion component are minimized, so that the motion component can be fixedly connected with the skull nail without an additional fixing device; at the same time, the weight reduction of the motion component can increase its stability, making it more stable and controllable during movement. Further, the volume of the motion component can be made smaller, so that it can flexibly adapt to narrow spaces such as head frames or head coils. In addition, the driving device of the driving component is preferably an ultrasonic motor to be suitable for nuclear magnetic environment.

[0066] See also Figure 1 and Figure 2A , the motion assembly includes a linear motion assembly 2 and a rotary motion assembly 3; the linear motion assembly 2 and the rotary motion assembly 3 are arranged on the frame 1. Specifically, the linear motion assembly 2 includes a screw 21, a linear active motion part 22 and a linear driven motion part 23. The linear active motion part 22 and the linear driven motion part 23 are arranged on the same vertical plane, the linear active motion part 22 is located below the linear driven motion part 23, and guide rail guide grooves 24 are symmetrically arranged on both sides of the connection between the two. Preferably, the linear active motion part 22, the linear driven motion part 23 and the guide rail guide groove 24 are integrally formed. The linear active motion part 22 has a screw hole, and the screw 21 passes through the screw hole and is bolted to the linear active motion part 22.

[0067] Please also read Figure 2B , further, the frame 1 is generally a rectangular frame structure, which has two relatively long opposite sides and two relatively short opposite sides. More specifically, the upper part of the two relatively long opposite sides of the frame 1 is provided with a guide portion 7, and the lower part is provided with a bottom cover 11; one side of the two relatively short opposite sides of the frame 1 is a front cover 13, and the other side is a rear cover 12. A fixing portion 6 is provided on the front cover. The guide portion 7 includes two guide rails 71, and the guide rails 71 are symmetrically arranged on both sides of the upper part of the two relatively long opposite sides of the frame 1. Further, the two ends of the guide rail 71 are connected to the front cover 13 and the rear cover 12 respectively. The guide rail 71 is slidably arranged in cooperation with the guide rail guide groove 24. Preferably, the fixing portion 6 is integrally formed with the front cover 13, and the fixing portion 6 is provided with an axially penetrating through hole 60 and a fixing hole 61 arranged vertically and connected to the through hole 60. The fixing portion 6 is used to be fixedly connected to the skull nail to form a skull surgical channel for surgical instruments, such as the optical fiber catheter 4, to pass through.

[0068] Furthermore, the two ends of the screw rod 21 are movably connected to the front cover 13 and the rear cover 12 of the frame 1 through bearings, respectively. The linear active motion part 22 and the screw rod 21 are spirally arranged through the screw nut 211, that is, the screw nut 211 is arranged on the linear active motion part 22, and the screw nut 211 is connected to the screw rod 21. Through the movable connection (or sliding connection) between the guide rail 71 and the guide rail guide groove 24, and the movable connection between the linear active motion part 22 and the screw rod 21, the linear motion of the linear motion component 2 is finally realized. More preferably, the guide rail 71 and the guide rail guide groove 24 are not necessary components in the present invention. The setting of the guide rail 71 and the guide rail guide groove 24 can limit the motion trajectory of the linear motion component 2 more accurately to a straight line, and play a role in positioning and directional motion.

[0069] Please also read Figure 2C , the motion assembly also includes a rotary motion assembly 3. The rotary motion assembly 3 includes a driving wheel 31 and a driven wheel 32, the driving wheel 31 and the driven wheel 32 are meshed with each other to form a speed change gear set; a driving rod 311 is fixedly arranged at the center of the driving wheel 31. The rotary motion assembly 3 is movably connected to the linear driven motion part 23 of the linear motion assembly 2. In one specific embodiment of the present invention, the specific design is:

[0070] Please also read Figure 3A and Figure 3B , a through hole 230 is provided on the linear driven motion part 23, and a collar 231 is arranged around the through hole 230. Preferably, the diameter of the collar 231 is larger than the diameter of the through hole 230, and the diameter of the collar 231 is slightly larger than the diameter of the driven wheel 32, so that the driven wheel 32 can perform rotational motion in the collar 231 to realize the rotational motion of the driven wheel 32 in the collar 231. The collar 231 is a non-closed ring, and a notch 2310 is provided at the lower part thereof. A movable connection hole (not shown in the figure) for the driving rod 311 to pass through is also provided on the linear motion component 2 below the notch 2310. The driven wheel 32 is placed in the collar 231, and the driving wheel 31 is meshed below the driven wheel 32. Preferably, the meshing part between the driving wheel 31 and the driven wheel 32 is the opening part of the notch 2310. The connection between the driving wheel 31 and the linear motion assembly 2 is achieved by connecting the driving rod 311 with the movable connection hole.

[0071] The diameter of the driving wheel 31 is much smaller than the diameter of the driven wheel 32. When the driving wheel 31 rotates one circle, only a small rotation of the driven wheel 32 can be achieved, and then the driven wheel 32 drives the optical fiber conduit 4 to rotate synchronously. Therefore, the entire speed change gear set can achieve micro-step rotation in structure, thereby achieving a rotation fine-tuning effect on the optical fiber conduit 4.

[0072] Furthermore, in order to enhance the motion stability of the rotary motion component 3, a cover plate 232 matching the rotary motion component 3 is fixedly arranged on the periphery of the ring neck 231. The cover plate 232 includes a first hole 2320 and a second hole 2321. The first hole 2320 is opened relative to the position of the ring neck 231, and the second hole 2321 is opened relative to the driving wheel 31. The accommodating cavity between the linear motion component 2 and the cover plate 232 is used to accommodate the rotary motion component 3, and plays a role of fixing and limiting. Preferably, the driven wheel 32 is detachably connected to the optical fiber conduit 4, and the first hole 2320 of the cover plate 232, the driven wheel 32, the perforation 230, the through hole 60, the optical fiber conduit 4, and the through hole of the skull nail are coaxially arranged, so that the optical fiber conduit 4 in the rotary motion component 3 can realize linear motion and self-rotation without causing deviation in other directions, thereby increasing the accuracy of the movement of the auxiliary motion device.

[0073] The auxiliary motion device also includes a driving assembly arranged away from the motion assembly, and the lead screw 21 and the driving rod 311 of the motion assembly are respectively connected to the driving assembly. The motion assembly realizes linear motion and / or rotational motion under the drive of the driving assembly. Further, the driving assembly drives the linear motion assembly 2 to perform linear motion; the linear motion assembly 2 can drive the rotational motion assembly 3 and the optical fiber conduit 4 to perform linear motion together; the driving assembly is also used to drive the rotational motion assembly 3 to perform rotational motion, and the rotational motion assembly 3 can drive the optical fiber conduit 4 to perform rotational motion. Of course, while the linear motion assembly 2 is performing linear motion, the rotational motion assembly 3 can also perform rotational motion, thereby further realizing that the optical fiber conduit 4 can perform linear motion and rotational motion at the same time.

[0074] The motion component of the present invention has a simple structure, wherein the driven wheel 32 is both a rotating motion component and a fixing part for fixing the optical fiber catheter 4, realizing multiple motion functions with a very small number of parts; in addition, the motion component of the present invention is preferably made of non-metallic material, light in weight and does not affect the quality of MR images, and can achieve an overall weight of less than 40g or a lighter 20g. The device is small and light, and can be used in conjunction with the head coil and can be easily fixed to the skull pin without applying excessive load to the skull pin. The driving part is fixed away from the moving part and fixed on a specific bed support platform, which is firm and easy to operate. At the same time, it is also ensured that it is not in the MR scanning area and will not affect the image quality.

[0075] Example 2

[0076] Please refer again FIG. 2A to FIG. 2C , FIG. 3A to FIG. 3B , FIG. 4A to FIG. 4B Another specific embodiment 2 of the present invention is different from embodiment 1 in that, in order to make the movement of the rotational motion component 3 more stable and precise, this embodiment 2 further optimizes the coordination between the linear motion component 2 and the rotational motion component 3.

[0077] The collar 231 includes a first collar 2311 and a second collar 2312, and the connection between the first collar 2311 and the second collar 2312 forms a step shape. Accordingly, the side of the driven wheel 32 that contacts the linear driven motion part 23 has a stepped abutment surface that matches the collar 231. That is, the collar 231 (or the linear driven motion part 23) and the driven wheel 32 are mounted together through at least one level of stepped surface, and the first stepped surface 23A of the collar 231 (or the linear driven motion part 23) forms a step-by-step support structure for the second stepped surface 32A of the driven wheel 32.

[0078] Specifically, the driven wheel 32 is a stepped cavity structure with one side open, and the cavity structure includes a first cavity 511 and a second cavity 512. The first cavity 511 and the second cavity 512 are both cylindrical cavity structures, which are coaxially arranged, adjacent to each other and connected, and the diameter of the first cavity 511 is larger than the diameter of the second cavity 512, and a boss 513 is formed at the adjacent position of the first cavity 511 and the second cavity 512. The stepped surface 32A where the boss 513 is located abuts against the stepped surface 23A formed at the connection between the first ring neck 2311 and the second ring neck 2312, thereby ensuring the stability of the driven wheel 32 when performing linear and / or rotational motion.

[0079] Furthermore, the outer diameter of the second cavity 512 of the driven wheel 32 matches the first ring neck 2311. More preferably, the outer diameter of the second cavity 512 is smaller than the second ring neck 2312, so as to achieve the limiting and rotational movement of the driven wheel 32 in the ring neck 231.

[0080] Please also read FIG. 4A to FIG. 4B , Figure 5A , a positioning groove 514 is provided on the bottom surface of the second concave cavity 512 of the driven wheel 32, and the positioning groove 514 is coaxially arranged with the first concave cavity 511 and the second concave cavity 512. Preferably, the positioning groove 514 includes a circular groove 5141 and a positioning rib matching groove 5142, and a plurality of positioning rib matching grooves 5142 are evenly arranged on the periphery of the circular groove 5141. Preferably, the number of the positioning rib matching grooves 5142 is two and symmetrically arranged on the periphery of the circular groove 5141. Optionally, the number of the positioning rib matching grooves 5142 can also be three or more, which are evenly spaced and arranged on the periphery of the circular groove 5141.

[0081] like Figure 5A As shown, the optical fiber conduit 4 includes an optical fiber fixing portion 41 and an optical fiber 42. A positioning rib 410 is provided at one end of the optical fiber fixing portion 41 that abuts against the driven wheel 32. The positioning rib 410 is matched with the positioning rib matching groove 5142. When in use, the optical fiber 42 of the optical fiber conduit 4 and the positioning rib 410 respectively pass through the circular groove 5141 and the positioning rib matching groove 5142 until the optical fiber fixing portion 41 abuts against the bottom surface of the second concave cavity 512, and then the arc convex portion 4101 at the end of the positioning rib 410 is clamped on the edge of the positioning rib matching groove 5142 to achieve the relative fixation of the optical fiber conduit 4 and the driven wheel 32. The present invention achieves the relative static relationship between the optical fiber conduit 4 and the driven wheel 32 by the cooperation between the positioning rib 410 and the positioning rib matching groove 5142, thereby achieving the rotational movement of the optical fiber conduit. Of course, the optical fiber conduit 4 and the driven wheel 32 may also be connected in other ways, such as bonding, clamping connection, interference fit, threaded connection, etc. For example, the driven wheel 32 is provided with an internal thread, and the optical fiber fixing portion 41 of the optical fiber conduit 4 is provided with an external thread on the periphery, and the fixed connection between the two is achieved by screwing the internal and external threads. The above connection methods are all prior arts and will not be described in detail here.

[0082] Please refer again FIG. 2A to FIG. 2C , FIG. 3A to FIG. 3BFurthermore, the bottom surface of the second concave cavity 512 of the linear driven motion part 23 where the driven wheel 32 abuts is provided with an annular groove 5120, a circular ring tape 53 is arranged in the annular groove 5120, and a rotation position sensor 54 is arranged on the other end surface of the linear driven motion part 23 (the end surface close to the fixed part 6).

[0083] The present invention detects and provides real-time feedback of the rotational motion of the rotational motion assembly 3 through the circular ruler 53 and the rotational position sensor 54, so that the operator can perform the next step of motion operation instructions for the optical fiber catheter 4 according to the feedback of the rotational motion.

[0084] Please also refer to FIG. 3A to FIG. 3B A linear position sensor 25 and a ruler tape 26 are provided on one side of the linear active motion part 22. The present invention uses the linear position sensor 25 and the ruler tape 26 to provide real-time feedback of the linear motion of the linear motion component 2, so that the operator can perform the next step of the motion operation instruction of the optical fiber catheter 4 according to the feedback of the linear motion.

[0085] The circular ruler tape 53 and the rotation position sensor 54 , the linear position sensor 25 and the ruler tape 26 are all prior art and are not described in detail.

[0086] Example 3

[0087] Furthermore, if Figure 5B-5C As shown, a fiber optic catheter fixing portion is provided inside the driven wheel 32, and the fiber optic catheter fixing portion includes a fiber optic catheter fixture 51 and a fiber optic catheter fixing piece 52, and the fiber optic catheter fixture 51 is detachably connected to the fiber optic catheter fixing piece 52, and the fiber optic catheter fixture 51 is fixedly arranged inside the driven wheel 32.

[0088] Specifically, the optical fiber catheter holder 51 is a stepped cavity structure, which includes a first cavity 511 and a second cavity 512. The first cavity 511 and the second cavity 512 are both cylindrical cavity structures, which are coaxially arranged, adjacent to each other and connected, the diameter of the first cavity 511 is larger than the diameter of the second cavity 512, and a right-angle boss 513 is formed at the adjacent position of the first cavity 511 and the second cavity 512.

[0089] Furthermore, a positioning groove 514 is provided at one end of the optical fiber conduit fixture 51 near the second concave cavity 512, and is coaxially arranged with the first concave cavity 511 and the second concave cavity 512. The positioning groove 514 includes a circular groove 5141 and a positioning rib matching groove 5142, and a plurality of positioning rib matching grooves 5142 are evenly arranged on the outer periphery of the circular groove 5141. Preferably, the number of the positioning rib matching grooves 5142 is two and symmetrically arranged on the outer periphery of the circular groove 5141. Optionally, the number of the positioning rib matching grooves 5142 may also be three or more, and they are evenly spaced and arranged on the outer periphery of the circular groove 5141.

[0090] Specifically, the optical fiber catheter fixing part 52 includes an inner snap-fit ​​block 521 and an outer snap-fit ​​block 522, the outer snap-fit ​​block 522 is a hollow tube body, a groove is provided in the tube body, the inner wall of the groove is provided with an internal thread, the inner snap-fit ​​block 521 is a hollow tube column, the end of the inner snap-fit ​​block 521 that cooperates with the outer snap-fit ​​block 522 is a forked end 5211, the forked end 5211 is provided with a plurality of forks, the plurality of forks are evenly distributed, and a convex portion 5212 is provided at the end of each fork, the convex portion 5212 is an arc-shaped elastic component with a cavity at one end, the opening is toward the center of the tube column, and the space size of the cavity will decrease with the increase of the clamping force around the convex portion 5212, thereby achieving a close fit between the fork and the optical fiber catheter 4. The outer wall of the protrusion 5212 is provided with an external thread, and the external thread is spirally connected with the internal thread. The fork of the forked end 5211 will slowly gather together with the spiral locking of the engaging outer block 522, and the optical fiber conduit 4 is tightened by the dual effects of the close fit between the protrusion 5212 and the optical fiber conduit 4 and the aggregation and gathering of the forked end 5211.

[0091] Further, the outer diameter of the engaging outer block 522 is the same as the inner diameter of the first concave cavity 511, and the two are detachably connected. A circular hole 5221 is provided at one end of the tube body of the engaging outer block 522 for placing the optical fiber conduit, and the outer periphery of the circular hole 5221 on the engaging outer block 522 is symmetrically connected with positioning ribs 5222, and the positioning ribs 5222 may be two, three or more, and the outer periphery of the end of the positioning rib 5222 is provided with a solitary convex portion 5223, and the outer diameter of the ring formed by the plurality of the positioning ribs 5222 is equal to the diameter of the positioning rib matching groove 5142, and the diameter of the solitary convex portion 5223 is greater than the diameter of the positioning rib matching groove 5142.

[0092] During implementation, the optical fiber conduit 4 is first placed into the tube column of the inner snap-fit ​​block 521. The optical fiber conduit 4 can move freely when the bifurcated end 5211 of the inner snap-fit ​​block is not tightened. When fixing, the outer snap-fit ​​block 522 is spirally connected to the inner snap-fit ​​block 521. The bifurcated end 5211 of the inner snap-fit ​​block 521 is tightly fitted with the inner wall of the protrusion 5212 and the optical fiber conduit 4 through the spiral tightening force of the outer snap-fit ​​block 522. At the same time, the multiple forks are gathered together, so that the optical fiber conduit 4 can be firmly stuck in the optical fiber conduit fixing piece 52. Next, one end of the positioning rib 5222 of the optical fiber catheter fixing piece 52 is passed through the positioning groove 514 of the optical fiber catheter fixing device 51, and the solitary protrusion 5223 is preferentially passed through the positioning rib matching groove 5142. Since the diameter of the solitary protrusion 5223 is larger than the diameter of the positioning rib matching groove 5142, the solitary protrusion 5223 can be stuck on the outer wall of the positioning rib matching groove 5142. At this time, the tube body of the engaging outer block 522 is just engaged and connected with the first concave cavity 511, so that the end of the protrusion 5212 of the engaging outer block 522 is just in contact with the right-angle boss 513 to make it stuck in the first concave cavity 512, thereby the optical fiber catheter fixing piece 52 and the optical fiber catheter fixing device 51 are mutually engaged and fixed together, and there will be no slipping or displacement, thereby ensuring that the optical fiber catheter 4 can be fixed in the optical fiber catheter fixing device 51, and there will be no slipping or displacement, thereby increasing the accuracy of the movement of the optical fiber catheter 4 during surgery.

[0093] Further, a fine adjustment component 34 is provided at one end of the clamping inner block 521 away from the clamping outer block 522, and the fine adjustment component 34 includes a fine adjustment clamping portion 341 and a fine adjustment fixing portion 342, and the fine adjustment clamping portion is provided at the end near the clamping inner block 521. The fine adjustment clamping portion 341 includes an inner clamp and an outer clamp, which are used to clamp the clamping inner block 521, so as to clamp and fix the optical fiber conduit 4 in the clamping inner block 521. Both ends of the outer wall of the inner clamp are provided with external threads, and the inner wall of the outer clamp is provided with internal threads, and the two are connected by threads, and an anti-slip rubber ring is also provided between the two, so that the friction between the inner clamp and the outer clamp is increased to further achieve a tightening effect. The fine-tuning fixing part 342 includes an inner fixing part and an outer fixing part. The inner wall of the outer fixing part is provided with an inner wall thread, which is spirally connected to the outer thread at the other end of the inner clamp. The inner fixing part is arranged between the outer fixing part and the inner clamp, and its inner wall is provided with a serrated protrusion, which is used to clamp the optical fiber conduit 4 tighter while preventing slipping.

[0094] Example 4

[0095] See also Figure 1 , FIG. 6A to FIG. 6BThe auxiliary motion device further comprises a driving assembly disposed away from the motion assembly. The driving assembly comprises a first driving device 8 connected to the screw rod 21 and a second driving device 9 connected to the driving rod 311. The first driving device 8 is used to drive the linear motion assembly 2 to perform linear motion; the linear motion assembly 2 can drive the rotary motion assembly 3 to perform linear motion; the second driving device 9 is used to drive the rotary motion assembly 3 to perform rotary motion, and the rotary motion assembly 3 can drive the optical fiber conduit 4 to perform rotary motion.

[0096] During implementation, the optical fiber conduit 4 in the frame 1 rotates through the rotary motion assembly 3 under the drive of the second drive device 9, and the linear motion assembly 2 drives the rotary motion assembly 3 disposed on the linear motion assembly 2 to perform synchronous linear motion under the drive of the first drive device 8, so that the rotary motion assembly 3 and the linear motion assembly 2 achieve linear motion synchronization, thereby further achieving the optical fiber conduit 4 to perform linear motion and rotational motion at the same time. Furthermore, the drive assembly includes a drive device and a force switching device, by which the drive force can be switched to different motion assemblies to achieve two forms of linear and rotational motion. The drive device and the force switching device are both prior art and will not be described here.

[0097] like Fig. 6A , Figure 6B As shown, the present invention provides a driving component that can realize dual driving sources, and the driving component can realize both full-automatic control and manual control. The driving component includes a manual driving part and a full-automatic driving part, and the manual driving part is detachably connected to the full-automatic driving part. When full-automatic circuit control is required, the connecting ends of the screw rod 21 and the driving rod 311 can be directly connected to the full-automatic driving part respectively. When manual adjustment is required, the connecting ends of the screw rod 21 and the driving rod 311 can be directly connected to the manual driving part respectively. The design idea of ​​the driving component will be explained in one of the preferred embodiments of the present invention below. Embodiment 4 of the present invention is only an example, not a limitation, so all inventions and creations within the design idea of ​​the present invention are within the protection scope of the present invention.

[0098] Please refer again FIG. 6A to FIG. 6BThe driving assembly of the present invention includes a first shell 100 and a second shell 200, and the first shell 100 and the second shell 200 are movably connected. The first shell 100 is provided with a first manual adjustment part 100A and a second manual adjustment part 100B; the second shell 200 is provided with a first driving device 8 and a second driving device 9. Further, the screw rod 21 is detachably connected to the first manual adjustment part 100A and the first driving device 8 in sequence, and the driving rod 311 is detachably connected to the second manual adjustment part 100B and the second driving device 9 in sequence. At this time, the first driving device 8 and the second driving device 9 are driven, and then the first manual adjustment part 100A and the second manual adjustment part 100B are driven to move together, so as to realize the linear and / or rotational movement of the motion assembly.

[0099] Furthermore, the first manual adjustment part 100A and the driving shaft of the first driving device 8 can be disconnected through a connecting sleeve, and the second manual adjustment part 100B and the driving shaft of the second driving device 9 can be disconnected through a connecting sleeve, and manual control of the motion component can be achieved only by manually adjusting the first manual adjustment part 100A and the second manual adjustment part 100B.

[0100] See also Fig. 7A and Figure 7B The first shell 100 has a receiving chamber a and a receiving chamber b, which are arranged horizontally side by side, and a partition is arranged between the receiving chamber a and the receiving chamber b, and two connecting sleeve grooves are arranged on the partition for accommodating the connecting sleeve; the first manual adjustment part 100A and the second manual adjustment part 100B are arranged in the receiving chamber a. The first manual adjustment part 100A includes a first rotating shaft 101 and a first rotating wheel 102, and the second manual adjustment part 100B includes a second rotating shaft 103 and a second rotating wheel 104. The second shell 200 is movably connected in the receiving chamber b. The first driving device 8 and the second driving device 9 are arranged in the second shell 200. The first driving device 8 and the second driving device 9 can preferably be ultrasonic motors. The driving shaft of the first driving device 8 is detachably connected to the first rotating shaft 101, and the second driving device 9 is detachably connected to the second rotating shaft 103.

[0101] The first housing 100 is provided with sliding grooves 10a on both side walls perpendicular to the partition, and the second housing 200 is provided with sliding parts 20a adapted to the sliding grooves 10a on both side walls perpendicular to the partition. Preferably, the sliding part 20a is a structure protruding from the second housing 200, and when the sliding groove 10a is slidably connected with the sliding part 20a, the outer surface of the sliding part 20a is flush with the outer surface of the first housing 100. The sliding part 20a can slide in the sliding groove 10a accordingly. Furthermore, in order to better fix the relative position of the first housing 100 and the second housing 200, a fixing member 20b is screwed on the sliding portion 20a, and the end surface size of the fixing member 20b is larger than the slot size of the sliding groove 10a. When the second housing 200 slides relatively to the desired position of the first housing 100, the fixing member 20b is tightened so that the end surface of the fixing member 20b abuts against the first housing 100, so as to achieve a fixed connection between the first housing 100 and the second housing 200. Further, the driving assembly also includes a third housing 300, and the third housing 300 is covered on the upper part of the first housing 100 and the second housing 200 to achieve sealing and support. Further, the third housing 300 is also provided with a first opening 300A and a second opening 300B. Part of the first rotating wheel 102 is exposed in the first opening 300A, and part of the second rotating wheel 104 is exposed in the second opening 300B. A marking ruler 300C is also provided near the first opening 300A and the second opening 300B, so that the manual adjustment motion accuracy is more controllable. The housing of the drive assembly of the present invention can be of various structures, which will not be described in detail here.

[0102] Please also read Fig. 8A , Figure 8B and Figure 8C In order to prevent the first rotating wheel 102 and the second rotating wheel 104 from reversing during manual adjustment, a support frame 301 and a baffle 302 are provided on the third housing 300, respectively, on the outside of the first rotating wheel 102 and the second rotating wheel 104. One end of the support frame 301 and the baffle 302 are movably connected through a movable shaft, and the other end of the baffle 302 is provided with a bent edge 3021, which can be fixed in the tooth grooves of the first rotating wheel 102 and the second rotating wheel 104 to fix the positions of the first rotating wheel 102 and the second rotating wheel 104, and at the same time cooperate with the position sensor to increase the movement accuracy of manual adjustment. Of course, the drive assembly of the present invention is also provided with an electrical connection port and a processor, and the electrical connection port and the processor are both prior art and will not be repeated again.

[0103] Example 5

[0104] See also Fig. 9 , Fig. 10A and Fig. 10B , a driving system for an auxiliary motion device of an optical fiber catheter for ablation surgery, includes a remote control system 10 and a robot that cooperate with an auxiliary motion device described in Examples 1 to 4; the robot includes: a communication module, a processing module and an auxiliary motion device, and the auxiliary motion device is an auxiliary motion device described in Examples 1 to 4.

[0105] The remote control system 10 includes: a control module, used to display intraoperative magnetic resonance images, wherein the images include ablation conditions and position information of the optical fiber catheter 4, wherein the position information includes at least one of the following: insertion depth of the optical fiber catheter 4, insertion direction of the optical fiber catheter 4, and rotation angle of the optical fiber catheter 4; the control module is also used to generate a control command and send the control command to the robot, wherein the control command is generated after determining that the optical fiber catheter 4 needs to be adjusted based on the ablation conditions and the position information. The communication module of the robot is used to communicate with the control module and receive the control command from the control module, wherein the control command carries parameters for adjusting the optical fiber catheter 4, and the parameters at least include the position information of the optical fiber catheter 4 to be adjusted, and the position information to be adjusted includes at least one of the following: insertion depth, insertion direction, and rotation angle; the processing module is used to convert the parameters carried in the control command into motion information of the robot arm, and send the motion information to the auxiliary motion device; the auxiliary motion device is used to move according to the motion information, wherein the motion drives the optical fiber catheter 4 to move according to the parameters, and the motion information includes at least one of the following: motion speed, motion direction, and rotation angle.

[0106] like Fig. 10A and Fig. 10B As shown, the control module may be located in a host, which may be a host in a laser ablation device, and the host is generally placed outside the magnetic resonance room during ablation surgery. The functions of the control module and the robot are described below.

[0107] The control module is used to display the intraoperative magnetic resonance image, wherein the image includes the ablation situation and the position information of the optical fiber catheter 4, wherein the position information may include at least one of the following: the insertion depth of the optical fiber catheter 4, the insertion direction of the optical fiber catheter 4, the rotation angle of the optical fiber catheter 4, etc. During the ablation process, it can be determined at any time whether the position of the optical fiber catheter 4 needs to be adjusted according to the ablation situation and the position information of the optical fiber catheter 4. Based on this, the control module is also used to generate a control command and send the control command to the robot, wherein the control command is generated after it is determined that the optical fiber catheter 4 needs to be adjusted according to the ablation situation and the position information.

[0108] In an optional embodiment, the control module can realize the remote control function of the robot. Therefore, the remote control system can be understood as a part of the control module. The remote control system can also include a hardware control system. For example, the robot can be controlled by a remote control or other device.

[0109] In 10A and Fig. 10B In the mechanism shown in FIG. 1 , the auxiliary motion device may include a driving assembly and a motion assembly, and the motion assembly is responsible for driving the linear and / or rotational motion of the optical fiber catheter 4. The motion assembly may also be provided with an absolute position sensor for closed-loop determination of the specific position of the optical fiber catheter. The motion mechanism is required to be small and light, and can be used in a skull pin or a head coil without affecting the quality of the MR scan image.

[0110] The driving component is used to provide power for the moving component, and this part can be integrated with the moving component or can be separated. Furthermore, it is preferred to adopt a separation method to keep the driving component away from the magnetic resonance body or the MR scanning chamber, and then complete the torque transmission between the two through the power transmission structure. In the present invention, the driving source control of the driving component can be either manual control or fully automatic control, and the presence of the position sensor and the marking ruler further ensures the movement accuracy of the moving component. Furthermore, the position sensor can be directly connected to the driving component through an electrical connection line, or it can be directly connected to the control system.

[0111] exist Fig. 10B In this process, the information obtained from the MRI structural image can be used to determine the distance that the moving component has been displaced, and further double-calibrate the actual situation of the movement to avoid accidents in special circumstances.

[0112] Through this embodiment, an auxiliary robot is introduced to operate the adjustment of the optical fiber catheter 4 during the ablation process. The auxiliary robot is set next to the patient and can control the operation of the auxiliary motion device according to the pre-positioning information. The introduction of the auxiliary robot can realize both full automatic control and manual adjustment of the optical fiber catheter 4, thereby improving the efficiency and accuracy of the adjustment of the optical fiber catheter 4, thereby enabling the surgery to achieve better results.

[0113] The control module can also be used for preoperative ablation planning. After preoperative ablation planning, an ablation strategy is generated. The ablation strategy includes at least one ablation stage. Each stage is configured with the expected ablation result corresponding to the stage, the light output information of the optical fiber catheter 4, and the orientation information of the optical fiber catheter 4. The ablation stages in the ablation strategy are executed in the order configured in the ablation strategy. During the ablation process, there may be multiple ablation stages according to the pre-generated ablation strategy. For example, for irregularly shaped tumors, multiple ablation stages need to be formulated according to the shape of the tumor. Each ablation stage is used to ablate a part of the tumor. After one stage is completed, the orientation of the optical fiber catheter 4 needs to be adjusted for the next stage of ablation. At this time, in this embodiment, the control module can be used to control the robot to adjust the optical fiber catheter 4. In this optional embodiment, the control module is used to obtain the expected ablation result corresponding to the current ablation stage, and determine whether the current ablation result is consistent with the expected ablation result based on the MRI image information, enter the next ablation stage in the pre-generated ablation strategy, and obtain adjustment information on whether the optical fiber catheter 4 needs to be adjusted in the next ablation stage, and then generate a control command based on the adjustment information.

[0114] There are many ways to determine whether the ablation result is consistent with the expected ablation result. For example, the estimated ablation area can be three-dimensionally modeled to fit an approximate ablation area, or the preoperative structural phase (or other multimodal images) can be registered with the same sequence of images after surgery, and the contrast difference method can be used to highlight the changed area, or the postoperative ablation area can be reconstructed using a three-dimensional rapid outline method and compared with the preoperative estimated ablation area. If the calculated ablation percentage exceeds 110%, it is considered excessive ablation; if it is less than 90%, it can be considered insufficient ablation, and the range of overlap of the expected ablation area and the range outside the expected ablation area need to be considered. If the percentage is between 90% and 110%, the ablation result is considered to be the same as the expected ablation result.

[0115] In another optional embodiment, during the ablation process at a certain stage, the ablation can also be monitored in real time. There are many ways to monitor the ablation process in real time, and an optional implementation is provided in this embodiment. In this optional implementation, the monitoring module makes a three-dimensional outline of the ablation area and the surrounding area, and adds corresponding material properties, and stores a list of tissue material properties. If there are two or more tissues in the ablation area, fine segmentation is required so that the ablation parameters change at the junction of the tissues; if there is a tumor in the ablation area, the area outside the tumor is defaulted to the same tissue, or outlined separately, and the preoperative ablation estimation control module is used for estimation to obtain the corresponding ablation parameters. The ablation parameters include cooling rate, laser power, and light output time.

[0116] Insert the ablation probe into the corresponding position, set the FOV (field of view) of the magnetic resonance scan, and the monitoring module automatically identifies and determines the size of each pixel, and uses each pixel as an ablation unit for calculation.

[0117] Using non-invasive magnetic resonance temperature measurement, combined with the preoperative segmentation and assignment of the expected ablation zone, namely ablation parameters and material properties, ablation prediction is performed using the Arrhenius equation and / or the CEM43 model.

[0118] At different ablation stages, different cells are marked with different colors. When using the Arrhenius equation, different ablation thresholds are selected. Assuming that when the chemical reaction rate coefficient Ω=1, the maximum cell damage is 63.2%, which is displayed in light yellow in this range; when the chemical reaction rate coefficient Ω=4.6, the cell damage is about 99%, which is displayed in orange in this range to show that the cell ablation in this range is relatively complete. In other areas of interest, if the ablation does not reach the specified percentage, but exceeds 43 degrees Celsius, these areas are displayed in green. At the same time, the CEM43 model is also used to display different colors under different equivalent ablation times, for example: segmented display is performed under different conditions of equivalent to 2 minutes, equivalent to 10 minutes, and equivalent to 60 minutes. The segmented ablation display allows doctors to better judge the ablation effect. When displaying the ablation area, the ablation area is translucent. After superimposing the tissue structure phase, the ablation range and which areas have been ablated can be seen at the same time.

[0119] When real-time monitoring shows that the position of the optical fiber catheter 4 needs to be adjusted, a pause command can be sent through the control module, wherein the pause command is used to instruct the optical fiber catheter 4 to pause ablation; after receiving the pause command, the control module receives the adjustment information input by the user to generate a control command, wherein the adjustment information is used to adjust the current position of the optical fiber catheter 4.

[0120] For example, a direction control device can also be set on the host, which can be a handle (or multiple handles, including a handle for controlling ascent and descent, a handle for controlling rotation, a handle for controlling movement within a plane, etc.). The user can control the movement of the auxiliary motion device by operating the handle. At this time, the control module can obtain the displacement of the handle, convert the displacement into a control command for controlling the movement of the auxiliary motion device and send it to the robot.

[0121] In an optional embodiment, the pause command is issued by the user of the control module (for example, the user determines through the image information displayed by the host that the orientation of the optical fiber catheter 4 needs to be adjusted); and / or, the pause command can also be issued by the control module according to a pre-configured alarm condition, wherein the alarm condition is used to indicate a risk situation during the operation, for example, if the actual ablation area is larger than the expected ablation area, prompting whether to stop ablation, such as when the ablation coverage area exceeds 110%, the monitoring module will cut off the energy output; for example, it can also include: exceeding the maximum depth of the optical fiber catheter 4, exceeding the planned ablation boundary, exceeding the safety temperature threshold, etc.

[0122] If a patient has multiple different lesion parts, there may be a situation where multiple fiber optic catheters 4 are used for ablation. As an optional implementation, the control module can also display the ablation status of the multiple fiber optic catheters 4 in the system, identify the fiber optic catheters 4 that need to be adjusted among the multiple fiber optic catheters 4, and generate a control command for the fiber optic catheters 4 that need to be adjusted, wherein the control command carries identification information of the fiber optic catheter 4 that needs to be adjusted, and the identification information is used to instruct the auxiliary motion device to adjust the orientation of the fiber optic catheter 4 corresponding to the identification information.

[0123] The different stages of the ablation strategy and whether to use multiple fiber optic catheters 4 can be completed through preoperative planning. In preoperative planning, there is also an important part, which is to plan the path of the fiber optic catheter 4. After planning the path, the doctor can insert the fiber optic catheter 4 according to the pre-planned path, or the robot can be controlled by the control module to insert it. For example, the control module is also used for the preoperatively planned path of the fiber optic catheter 4 through the human tissue to reach the lesion site, where the path is the path in the human tissue; the robot is also used to control the fiber optic catheter 4 to reach the lesion site along the path.

[0124] The motion information of the robot calculated according to the path can be calculated by the control module, or it can also be calculated by the robot, that is, the control module is used to calculate the motion information of the auxiliary motion device of the robot according to the path, and send the motion information to the robot; or the control module is used to send the path to the robot; the robot is used to calculate the motion information according to the path; the robot is used to control the auxiliary motion device to drive the optical fiber catheter 4 along the path to the lesion site according to the motion information calculated by the path. As an optional embodiment, the control module is also used to monitor whether the movement of the optical fiber catheter 4 driven by the robot according to the path information conforms to the path, and in the case of deviation from the path, send an adjustment command, wherein the adjustment command is used to adjust the motion information of the auxiliary motion device of the robot; the robot is also used to adjust the movement according to the adjustment command.

[0125] There are many ways to obtain whether the movement of the optical fiber catheter 4 conforms to the path. For example, the control module can monitor whether the movement of the optical fiber catheter 4 conforms to the path through the information of the magnetic resonance image and / or the data fed back by the sensor arranged on the auxiliary motion device, wherein the sensor arranged on the auxiliary motion device may include at least one of the following: a motion sensor, a displacement sensor.

[0126] As an optional method, in the adjustment of all optical fiber catheters 4 in the above embodiments, the processing module of the robot is also used to obtain the motion state of the auxiliary motion device when it moves under the control of motion information, and send the motion state to the control module through the communication module. The control module can also determine whether the motion of the optical fiber catheter 4 is consistent with expectations based on the motion of the optical fiber catheter 4 driven by the auxiliary motion device and the received motion state. This method can provide better safety assurance.

[0127] The robot in the above embodiment can be sold or used separately. If it is used with a control module of a third-party manufacturer, the robot provides an interface, which is used to define the control method and parameters of the robot, as well as the communication method between the third-party control module and the robot. Similarly, the feedback parameters of the robot are also defined through the interface. This can increase the adaptability of the robot, and can also increase the robot as an auxiliary control function when the user has already purchased a third-party control module.

[0128] In the above system or the above robot sold separately, a remote interaction module can be added to control the robot in the magnetic resonance room. For example, the control includes at least one of the following: calibrating the robot, controlling the robot to move, controlling the robot to puncture, controlling the robot to stop urgently, and controlling the robot's auxiliary motion device.

[0129] Example 6

[0130] A control method for a driving system of an auxiliary motion device according to embodiment 4. The driving system is divided into manual driving and fully automatic driving.

[0131] Manual drive:

[0132] like Fig. 6A , Figure 6B As shown, the present invention provides a driving assembly capable of realizing dual driving sources, which can realize both full automatic control and manual control. The driving assembly comprises a manual driving part and a full automatic driving part, and the manual driving part is detachably connected to the full automatic driving part.

[0133] When manual adjustment is required, the connecting ends of the screw rod 21 and the drive rod 311 are directly connected to the manual drive unit. The manual drive unit is separated from the fully automatic drive unit, and the two are not related to each other. Furthermore, the electrical connection line of the position sensor on the motion component is still connected to the processor of the drive component to achieve accurate feedback under manual adjustment. At this time, the manual control of the motion component can be achieved by manually adjusting the first manual adjustment unit 100A and the second manual adjustment unit 100B, and the marking ruler of the manual drive unit can accurately and intuitively display the motion situation.

[0134] Fully automatic drive:

[0135] When full-automatic circuit control is required, the connecting ends of the screw rod 21 and the driving rod 311 can be directly connected to the full-automatic driving part. Alternatively, the screw rod 21 can be connected to the first manual adjustment part 100A and the first driving device 8 in sequence; the driving rod 311 can be connected to the second manual adjustment part 100B and the second driving device 9 in sequence. The first driving device 8, the second driving device 9 and the processor are electrically connected, and the processor is connected to the remote control system to achieve full-automatic control of the linear and / or rotational motion of the motion component.

[0136] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A sports assisting device, characterized in that: It comprises a frame (1), a motion component and a drive component; the motion component is arranged on the frame (1), and the motion component realizes linear and / or rotational motion under the drive of the drive component; The driving assembly includes a manual driving part and a fully automatic driving part; wherein the manual driving part is used to realize manual control of the motion assembly; and the fully automatic driving part is used to realize fully automatic control of the motion assembly; The motion component comprises a linear motion component (2) and a rotary motion component (3), wherein the rotary motion component (3) is arranged on the linear motion component (2); The rotary motion assembly (3) comprises a driving wheel (31) and a driven wheel (32), wherein the driving wheel (31) and the driven wheel (32) are meshed with each other; An optical fiber conduit fixing part is provided inside the driven wheel (32), and the optical fiber conduit fixing part comprises an optical fiber conduit fixing device (51) and an optical fiber conduit fixing member (52); the optical fiber conduit fixing device (51) is fixedly arranged inside the driven wheel (32); the optical fiber conduit fixing member (52) comprises an inner snap-fit ​​block (521) and an outer snap-fit ​​block (522), one end of the inner snap-fit ​​block (521) that matches the outer snap-fit ​​block is a forked end (5211), and the spiral tightening force of the outer snap-fit ​​block (522) can make the forked end (5211) gather together to tighten the optical fiber conduit (4); A fine-tuning assembly (34) is provided at one end of the engaging inner block (521) away from the engaging outer block (522), and the fine-tuning assembly (34) comprises a fine-tuning clamping portion (341) and a fine-tuning fixing portion (342), wherein the fine-tuning clamping portion (341) is arranged at the end of the engaging inner block (521); the fine-tuning clamping portion (341) comprises an inner clamp and an outer clamp, which are used to clamp the engaging inner block (521), thereby clamping and fixing the optical fiber conduit (4) in the engaging inner block (521); the fine-tuning fixing portion (342) comprises an inner fixing piece and an outer fixing piece, wherein the inner fixing piece is arranged between the outer fixing piece and the inner clamp, and a sawtooth protrusion is provided on the inner wall thereof, which is used to clamp the optical fiber conduit (4) more tightly while preventing slipping; The frame (1) further comprises a fixing portion (6), wherein the fixing portion (6) is used to be fixedly connected to a skull nail to form a skull surgical channel through which surgical instruments can pass.

2. The auxiliary exercise device according to claim 1, characterized in that: The manual drive unit is detachably connected to the fully automatic drive unit; the frame (1) and the motion component are both made of nuclear magnetic compatible materials.

3. The auxiliary exercise device according to claim 2, characterized in that: The fully automatic driving unit comprises a first driving device (8) and a second driving device (9); the first driving device (8) is used for fully automatically driving the linear motion component (2) to perform linear motion; the linear motion component (2) can drive the rotary motion component (3) to perform linear motion; the second driving device (9) is used for fully automatically driving the rotary motion component (3) to perform rotary motion, and the rotary motion component (3) can drive the optical fiber conduit (4) to perform rotary motion.

4. The auxiliary exercise device according to claim 3, characterized in that: The manual drive unit comprises a first manual adjustment unit (100A) and a second manual adjustment unit (100B); the first manual adjustment unit (100A) is used to manually drive the linear motion component (2) to perform linear motion; the linear motion component (2) can drive the rotary motion component (3) to perform linear motion; the second manual adjustment unit (100B) is used to manually drive the rotary motion component (3) to perform rotary motion, and the rotary motion component (3) can drive the optical fiber conduit (4) to perform rotary motion.

5. The auxiliary exercise device according to claim 4, characterized in that: The first manual adjustment part (100A) is detachably connected to the first driving device (8); and the second manual adjustment part (100B) is detachably connected to the second driving device (9).

6. The auxiliary exercise device according to claim 5, characterized in that: The linear motion assembly (2) comprises a screw rod (21), a linear active motion part (22) and a linear driven motion part (23), wherein the linear active motion part (22) is connected to the screw rod (21).

7. The auxiliary exercise device according to claim 6, characterized in that: A guide rail guide groove (24) is provided at the connection between the linear active motion part (22) and the linear driven motion part (23); the linear active motion part (22), the linear driven motion part (23) and the guide rail guide groove (24) are integrally formed.

8. The auxiliary exercise device according to claim 7, characterized in that: The frame (1) comprises a fixing portion (6), a guiding portion (7), a bottom cover (11) and a rear cover (12); the rear cover (12) is arranged on the rear side of the frame (1); the fixing portion (6) is fixedly arranged on the front side of the frame (1), and the fixing portion (6) is provided with an axially penetrating through hole (60); the guiding portion (7) comprises two guide rails (71), and the guide rails (71) are movably connected to the guide rail guide grooves (24).

9. The auxiliary exercise device according to claim 7, characterized in that: The linear driven motion part (23) is provided with a collar (231); the driven wheel (32) is movably arranged in the collar (231); The optical fiber conduit (4) comprises an optical fiber fixing portion (41) and an optical fiber (42); the optical fiber fixing portion (41) is detachably connected to the driven wheel (32), and the optical fiber (42) sequentially passes through the circular groove (5141) of the driven wheel (32), the through hole (230) of the linear driven motion portion (23), and the through hole (60).

10. The auxiliary exercise device according to claim 7, characterized in that: The motion component is provided with a position sensor.

11. A driving system for an auxiliary motion device according to any one of claims 1 to 10, characterized in that: It comprises a remote control system (10) and a robot, wherein the robot comprises a communication module, a processing module and the auxiliary motion device, and the remote control system (10) and the robot are electrically connected to control the movement of an optical fiber catheter (4) in the auxiliary motion device.

12. The control method of a driving system of an auxiliary motion device according to claim 11, characterized in that: The driving component is controlled manually or remotely and fully automatically to drive the linear motion component (2) and the rotary motion component (3) to perform linear motion and / or rotary motion.

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